2012 MAZDA MAZDA5 Suspension Problems

I HAD 3,000 MILES ON MY 2012 MAZDA 5 WHEN I FIRST COMPLAINED TO A MAZDA DEALER THAT MY CAR WOULD WOBBLE WHEN GOING FORWARD INTO A RIGHT TURN AND IN REVERSE WHEN MAKING A LEFT TURN.'SOMETHING' WOULD ALWAYS CORRECT THE PROBLEM FOR A WHILE WHEN I COMPLAINED DURING MULTIPLE OIL CHANGES. RECENTLY AT 25,000 MILES A DEALER FINALLY TOLD ME MY ROTORS WERE OUT OF ROUND SO THEY WERE GOING TO GROUND THEM DOWN TO MAKE THEM STRAIGHT. I REQUESTED A REPLACEMENT BUT THEY SAID NO. I WOULD NOT EXPECT NOR HAVE I EVER SEEN ROTORS WEAR DOWN BEFORE YEARS OF SERVICE. THERE IS NOW A PERCEPTION OF SKIDDING FOR A SECOND WHEN I GO AROUND A CORNER THAT I HAVE FELT TWICE SINCE THE ROTORS WERE SUPPOSEDLY MADE EVEN. THE CAR IS UNDER WARRANTY. HAS ANYONE ELSE HAD THIS PROBLEM? IS THIS A SAFETY ISSUE? I FEEL UNSAFE...